diff --git a/depth_image_proc/src/point_cloud_xyzi.cpp b/depth_image_proc/src/point_cloud_xyzi.cpp
index 8fe52c9f9..7eb986b88 100644
--- a/depth_image_proc/src/point_cloud_xyzi.cpp
+++ b/depth_image_proc/src/point_cloud_xyzi.cpp
@@ -214,6 +214,8 @@ void PointCloudXyziNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == enc::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == enc::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",
diff --git a/depth_image_proc/src/point_cloud_xyzi_radial.cpp b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
index 313826bfd..c873993c2 100644
--- a/depth_image_proc/src/point_cloud_xyzi_radial.cpp
+++ b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
@@ -157,6 +157,8 @@ void PointCloudXyziRadialNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",